maked all rc handlers and st-flash handler

car_srv/kotlinSrv/src/net/server/Server.kt

@@ -1,46 +1,33 @@
-package server
+package net.server
 
 
 import require
-import server.handlers.AbstractHandler
+import net.server.handlers.AbstractHandler
 
 /**
  * Created by user on 7/27/16.
  */
-class Server(handlers: MutableMap<String, AbstractHandler>) {
-
-    val http: dynamic
-    val url: dynamic
-    val handlers: MutableMap<String, AbstractHandler>
-
-    init {
-        http = require("http")
-        url = require("url")
-        this.handlers = handlers
-    }
-
-
-    fun start() {
-
-        http.createServer({ request, response ->
-            val content = mutableListOf<Byte>()
-            val urlName = url.parse(request.url).pathname;
-            val handler = handlers.get(urlName)
-            request.on("data", {
-                data ->
-                for (i in 0..data.length - 1) {
-                    content.add(data[i])
-                }
-            })
-            request.on("end", {
-                if (handler != null) {
-                    handler.execute(content, response)
-                } else {
-                    //todo write error on incorrect url
-                    response.end()
-                }
-            })
-        }).listen(8888)
-    }
 
+fun start(handlers: MutableMap<String, AbstractHandler>, port:Int) {
+    val http = require("http")
+    val url = require("url")
+    http.createServer({ request, response ->
+        val content = mutableListOf<Byte>()
+        val urlName = url.parse(request.url).pathname;
+        val handler = handlers.get(urlName)
+        request.on("data", {
+            data ->
+            for (i in 0..data.length - 1) {
+                content.add(data[i])
+            }
+        })
+        request.on("end", {
+            if (handler != null) {
+                handler.execute(content, response)
+            } else {
+                //todo write error on incorrect url
+                response.end()
+            }
+        })
+    }).listen(port)
 }

car_srv/kotlinSrv/src/net/server/handlers/AbstractHandler.kt

@@ -1,4 +1,6 @@
-package server.handlers
+package net.server.handlers
+
+import trimBuffer
 
 /**
  * Created by user on 7/27/16.
@@ -16,25 +18,23 @@ abstract class AbstractHandler(protoDecoder: dynamic, protoEncoder: dynamic) {
 
     fun execute(data: List<Byte>, response: dynamic) {
 
-        val message = protoDecoder.decode(data.toByteArray())
+
+        val message = if (protoDecoder != null) protoDecoder.decode(data.toByteArray()) else null
         val resultMessage: dynamic = {}
         js("resultMessage = {}")//todo bad?
         val afterExecute: () -> Unit = {
-            val protoEn = this.protoEncoder//temporarily:)
+            if (this.protoEncoder != null) {
-            val resultMsg = resultMessage
+                val protoEn = this.protoEncoder//temporarily:)
-            val resultObject = js("new protoEn(resultMsg)")
+                val resultMsg = resultMessage
-
+                val resultObject = js("new protoEn(resultMsg)")
-            val resultBuffer = resultObject.encode()
+                val resultBuffer = resultObject.encode()
-            val byteArray = ByteArray(resultBuffer.limit);
+                response.write(trimBuffer(resultBuffer.buffer, resultBuffer.limit))
-            for (i in 0..resultBuffer.limit - 1) {
-                byteArray[i] = resultBuffer.buffer[i]
             }
-            response.write(js("new Buffer(byteArray)"))
             response.end()
         }
-        makeResult(message, resultMessage, afterExecute)
+        makeResponse(message, resultMessage, afterExecute)
     }
 
-    abstract fun makeResult(message: dynamic, resultMessage: dynamic, finalCallback: () -> Unit)
+    abstract fun makeResponse(message: dynamic, responseMessage: dynamic, finalCallback: () -> Unit)
 
 }

car_srv/kotlinSrv/src/net/server/handlers/flash/LoadBin.kt

@@ -1,6 +1,6 @@
-package server.handlers.flash
+package net.server.handlers.flash
 
-import server.handlers.AbstractHandler
+import net.server.handlers.AbstractHandler
 import require
 
 /**
@@ -9,12 +9,43 @@ import require
 class LoadBin : AbstractHandler {
 
     val fs: dynamic
+    val exec: dynamic
 
     constructor(protoDecoder: dynamic, protoEncoder: dynamic) : super(protoDecoder, protoEncoder) {
         this.fs = require("fs")
+        this.exec = require("child_process").exec
     }
 
-    override fun makeResult(message: dynamic, resultList: dynamic, finalCallback: () -> Unit) {
+    override fun makeResponse(message: dynamic, responseMessage: dynamic, finalCallback: () -> Unit) {
-        throw UnsupportedOperationException("not implemented") //To change body of created functions use File | Settings | File Templates.
+        var stdOut: String = ""
+        var strErr: String = ""
+        var resultCode = 0
+        fs.writeFile("./flash.bin", message.data.buffer, "binary", { error ->
+            if (error != null) {
+                resultCode = 14
+                strErr = error.toString()
+                responseMessage.stdOut = stdOut
+                responseMessage.strErr = strErr
+                responseMessage.resultCode = resultCode
+                finalCallback.invoke()
+            } else {
+                val stFlashCommand = "./st-flash write ./flash.bin " + message.base
+                exec(stFlashCommand, { err, stdOutRes, stdErrRes ->
+                    if (err != null) {
+                        resultCode = 15
+                        strErr = stdErrRes.toString() + "\n" + err.toString()
+                        stdOut = stdOutRes.toString()
+                    } else {
+                        resultCode = 0
+                        strErr = stdErrRes.toString()
+                        stdOut = stdOutRes.toString()
+                    }
+                    responseMessage.stdOut = stdOut
+                    responseMessage.strErr = strErr
+                    responseMessage.resultCode = resultCode
+                    finalCallback.invoke()
+                })
+            }
+        })
     }
-}
+}

car_srv/kotlinSrv/src/net/server/handlers/rc/Connect.kt

@@ -1,7 +1,33 @@
-package server.handlers.rc
+package net.server.handlers.rc
+
+import exceptions.RcControlException
+import net.server.handlers.AbstractHandler
 
 /**
  * Created by user on 7/27/16.
  */
-class Connect {
+class Connect : AbstractHandler {
+
+    constructor(protoDecoder: dynamic, protoEncoder: dynamic) : super(protoDecoder, protoEncoder)
+
+    override fun makeResponse(message: dynamic, responseMessage: dynamic, finalCallback: () -> Unit) {
+        val resultCode: Int
+        val resultMsg: String
+        val sid: Int;
+        try {
+            sid = MicroController.instance.connectRC()
+            resultCode = 0
+            resultMsg = ""
+        } catch (e: RcControlException) {
+            resultCode = 13
+            resultMsg = "car already controlled by RC"
+            sid = 0
+        }
+
+        responseMessage.sid = sid
+        responseMessage.code = resultCode
+        responseMessage.errorMsg = resultMsg
+
+        finalCallback.invoke()
+    }
 }

car_srv/kotlinSrv/src/net/server/handlers/rc/Control.kt

@@ -1,9 +1,9 @@
-package server.handlers.rc
+package net.server.handlers.rc
 
-import carControl.RouteExecutorImpl
+import MicroController
-import server.handlers.AbstractHandler
-import thisCar
 import carControl.RouteExecutorImpl.MoveDirection
+import exceptions.RcControlException
+import net.server.handlers.AbstractHandler
 
 /**
  * Created by user on 7/27/16.
@@ -12,10 +12,9 @@ class Control : AbstractHandler {
 
     constructor(protoDecoder: dynamic, protoEncoder: dynamic) : super(protoDecoder, protoEncoder)
 
-    override fun makeResult(message: dynamic, resultMessage: dynamic, finalCallback: () -> Unit) {
+    override fun makeResponse(message: dynamic, responseMessage: dynamic, finalCallback: () -> Unit) {
         val commandNumber = message.command
-        resultMessage.code = 0
+        val sid = message.sid
-        resultMessage.errorMsg = ""
         val command = when (commandNumber) {
             protoDecoder.Command.stop -> {
                 MoveDirection.STOP
@@ -34,7 +33,18 @@ class Control : AbstractHandler {
             }
             else -> MoveDirection.STOP
         }
-        thisCar.move(command, 0.0, {})
+        val resultCode:Int
+        val resultMsg:String
+        try {
+            MicroController.instance.RcMove(command, sid)
+            resultCode = 0
+            resultMsg = ""
+        } catch (e: RcControlException) {
+            resultCode = 12
+            resultMsg = "incorrect remote control sid"
+        }
+        responseMessage.code = resultCode
+        responseMessage.errorMsg = resultMsg
         finalCallback.invoke()
     }
 }

car_srv/kotlinSrv/src/net/server/handlers/rc/Disconnect.kt

@@ -1,8 +1,30 @@
-package server.handlers.rc
+package net.server.handlers.rc
+
+import exceptions.RcControlException
+import net.server.handlers.AbstractHandler
 
 /**
  * Created by user on 7/27/16.
  */
-class Disconnect {
+class Disconnect : AbstractHandler{
 
+    constructor(protoDecoder: dynamic, protoEncoder: dynamic) : super(protoDecoder, protoEncoder)
+
+    override fun makeResponse(message: dynamic, responseMessage: dynamic, finalCallback: () -> Unit) {
+
+        val resultCode: Int
+        val resultMsg: String
+        try {
+            MicroController.instance.disconnectRC(message.sid)
+            resultCode = 0
+            resultMsg = ""
+        } catch (e: RcControlException) {
+            resultCode = 12
+            resultMsg = "incorrect remote control sid"
+        }
+        responseMessage.code = resultCode
+        responseMessage.errorMsg = resultMsg
+
+        finalCallback.invoke()
+    }
 }

car_srv/kotlinSrv/src/net/server/handlers/rc/Heartbeat.kt

@@ -1,8 +1,28 @@
-package server.handlers.rc
+package net.server.handlers.rc
+
+import exceptions.RcControlException
+import net.server.handlers.AbstractHandler
 
 /**
  * Created by user on 7/27/16.
  */
-class Heartbeat {
+class Heartbeat : AbstractHandler {
 
+    constructor(protoDecoder: dynamic, protoEncoder: dynamic) : super(protoDecoder, protoEncoder)
+
+    override fun makeResponse(message: dynamic, responseMessage: dynamic, finalCallback: () -> Unit) {
+        val resultCode: Int
+        val resultMsg: String
+        try {
+            MicroController.instance.rcHeartBeat(message.sid)
+            resultCode = 0
+            resultMsg = ""
+        } catch (e: RcControlException) {
+            resultCode = 12
+            resultMsg = "incorrect remote control sid"
+        }
+        responseMessage.code = resultCode
+        responseMessage.errorMsg = resultMsg
+        finalCallback.invoke()
+    }
 }